A system measuring an object with a human-centric robot is provided. The robot including a movable end effector having a coupler, the robot including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine the position and orientation of the end effector. At least one tool is provided having a first gripping portion, the gripping portion being sized and shaped to removably couple to the coupler. A three-dimensional (3D) scanner is provided that is configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner having a second gripping portion sized and shaped to removably couple to the coupler. A controller is configured to selectively couple one of the at least one tool or the 3D scanner to the coupler in response to an object signal.
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